With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile robotics can offer solutions with a high degree of mobility and dexterity, however these complex systems require a multitude of heterogeneous components to be carefully integrated into one consistent framework. This work presents a mobile manipulation system that combines perception, localization, navigation, motion planning and grasping skills into one common workflow for fetch and carry applications in unstructured indoor environments. The tight integration across the various modules is experimentally demonstrated on the task of finding a commonly available object in an office environment, grasping it, and delivering it to a desired drop-off location. The accompanying video is available at https://youtu.be/e89_Xg1sLnY.

中文翻译：

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Go Fetch：非结构化环境中的移动操作

随着人类在医疗和家庭领域面临新的、规模越来越大的挑战，服务行业的自动化在提高运营效率、质量和安全性方面具有巨大潜力。移动机器人可以提供具有高度机动性和灵活性的解决方案，但是这些复杂的系统需要将大量异构组件仔细集成到一个一致的框架中。这项工作提出了一种移动操纵系统，它将感知、定位、导航、运动规划和抓取技能结合到一个通用的工作流程中，用于在非结构化室内环境中获取和携带应用程序。各种模块之间的紧密集成通过实验证明了在办公环境中找到常用对象的任务，抓住它，并将其运送到所需的下车地点。随附的视频可从 https://youtu.be/e89_Xg1sLnY 获得。